CN108625885A - A kind of semi-automatic duct piece assembling machine and its assembling method - Google Patents
A kind of semi-automatic duct piece assembling machine and its assembling method Download PDFInfo
- Publication number
- CN108625885A CN108625885A CN201810693894.5A CN201810693894A CN108625885A CN 108625885 A CN108625885 A CN 108625885A CN 201810693894 A CN201810693894 A CN 201810693894A CN 108625885 A CN108625885 A CN 108625885A
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- Prior art keywords
- jurisdiction
- section
- snatch
- assembling machine
- oil cylinder
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- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000003028 elevating effect Effects 0.000 claims abstract description 11
- 238000009434 installation Methods 0.000 claims description 4
- 238000010276 construction Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/08—Lining with building materials with preformed concrete slabs
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a kind of semi-automatic duct piece assembling machine and its assembling method, solve the problems, such as that pipe sheet assembling the degree of automation is low in the prior art, assembled efficiency is low.The present invention includes section of jurisdiction propulsion device and section of jurisdiction hanging apparatus, the section of jurisdiction propulsion device includes propelling cylinder, the section of jurisdiction hanging apparatus includes rotary support, rotary support side corresponding with cutterhead is equipped with assembling machine driving and reel assembly, the other side of rotary support is equipped with reversing frame, reversing frame is connected with assembling machine driving, it is horizontal on reversing frame to be equipped with guide beam, guide beam is equipped with sliding rack, sliding rack is equipped with the elevating mechanism being vertically arranged and horizontally disposed axial movement oil cylinder, the fixing end of axial movement oil cylinder is connected with reversing frame, the lower end of elevating mechanism is equipped with grasping mechanism.Main movement link of the present invention is acted using automation, is eliminated a large amount of human intervention operation and is saved the time of pipe sheet assembling link transhipment section of jurisdiction, improves assembled speed and working efficiency.
Description
Technical field
The present invention relates to technical field of tunnel construction, a kind of semi-automatic duct piece assembling machine and its assembling method are particularly related to.
Background technology
Construction of Urban Rail Traffic and Urban Underground piping lane development are swift and violent in recent years.Shield construction is excellent with its construction
More property is grown rapidly.Built tunnel piping link is the important link in shield-tunneling construction, manual operation duct piece assembling machine
Assembled tunnel duct piece is the current major way for carrying out tunnel-liner.The artificial excessive equipment operation that carries out increases faulty operation
Possibility, it is larger and higher to personnel requirement to expend energy, causes the waste of manpower and materials, it is low to work at the same time efficiency, influences to apply
Work progress.
Invention content
For the deficiency in above-mentioned background technology, a kind of semi-automatic duct piece assembling machine of present invention proposition and its assembling method,
Solve the problems, such as that pipe sheet assembling the degree of automation is low in the prior art, assembled efficiency is low.
The technical proposal of the invention is realized in this way：A kind of semi-automatic duct piece assembling machine, including be installed on inside shield body
Section of jurisdiction propulsion device and section of jurisdiction hanging apparatus, section of jurisdiction propulsion device and section of jurisdiction hanging apparatus be connected with controller；It is described
Section of jurisdiction propulsion device includes several propelling cylinders being arranged along shield body circumference, propelling cylinder and the propulsion being arranged on trailer
Pump is connected, and the section of jurisdiction hanging apparatus includes the rotary support being arranged inside shield body, and rotary support is corresponding with cutterhead
Side be equipped with assembling machine driving and reel assembly, the other side of rotary support is equipped with reversing frame, and reversing frame drives with assembling machine
It is connected, horizontal on reversing frame to be equipped with guide beam, guide beam is equipped with sliding rack, and sliding rack is equipped with the elevator being vertically arranged
Structure and horizontally disposed axial movement oil cylinder, the fixing end for moving axially oil cylinder are connected with reversing frame, move axially oil cylinder
Telescopic end is connected with sliding rack, and axial movement oil cylinder is connected with the assembled pump being arranged in shield body, under elevating mechanism
End is equipped with the grasping mechanism for grasping pipe piece.
The elevating mechanism includes the guide sleeve and lift cylinder being connected with sliding rack, and guide post is equipped in guide sleeve,
The fixing end of lift cylinder is fixedly connected with sliding rack, and the telescopic end of lift cylinder is connected with guide post, the lower end of guide post with
Grasping mechanism is fixedly connected, and lift cylinder is connected with assembled pump.
The grasping mechanism includes snatch holder and snatch head, and snatch head is arranged on snatch holder, is set on snatch holder
There are two the snatch hair oil cylinder for adjusting snatch head direction, the telescopic end of snatch hair oil cylinder is connected with snatch head, snatch head
The fixing end of oil cylinder is connected with snatch holder.
Assembling machine driving includes drive motor and retarder, and retarder is connected with drive motor, retarder it is defeated
Shaft is connected with reversing frame, and reversing frame is rotatablely connected with rotary support.
A kind of assembling method of semi-automatic duct piece assembling machine, includes the following steps：S0：Semi-automatic assembled pattern is selected, is opened
Dynamic assembly pump and propulsion pump, S1：Controller controls section of jurisdiction hanging apparatus, makes snatch hair oil cylinder, lift cylinder and axial shifting
Dynamic oil cylinder is recycled to zero-bit；S2：Controller controls assembling machine driving and opens, and assembling machine driving drives reversing frame rotation, makes to grab
Mechanism is taken to rotate to capture area, while propelling cylinder stretching holds out against assembled section of jurisdiction；S3：Controller control axial movement
Oil cylinder stretches out, and sliding rack is made to be moved to the upper area for waiting for grasping pipe piece；S4：Controller controls lift cylinder and stretches out, and makes crawl
Mechanism is in suitable position with grasping pipe piece is waited for, adjusts snatch hair oil cylinder, makes snatch head and waits for that grasping pipe piece is in suitable position
And direction, manually section of jurisdiction is fixed on snatch head；S5：Controller control lift cylinder is recycled to zero-bit, makes grasping mechanism band
Section of jurisdiction to be raised above；S6：The axial Shift cylinder of controller control is recycled to zero-bit, makes sliding rack with grasping mechanism to Forward
It is dynamic；S7：Assembling machine driving drives reversing frame rotation, so that grasping mechanism is rotated to assembled region, while propelling cylinder is recycled to zero
Position；S8：Controller controls lift cylinder and stretches out setting length, and section of jurisdiction is made to be in appropriate location with assembled position；S9：It is accomplished manually
Section of jurisdiction fine tuning is completed at the same time section of jurisdiction connection；S10：The propelling cylinder in the assembled region of controller control stretches out the pipe held out against in assembly
Piece；S11：Grasping mechanism unclamps section of jurisdiction；S12：The action of S1-S11 is repeated, until completing last block on current tunnel anchor ring
The assembly of section of jurisdiction；S13：Section of jurisdiction propulsion device and section of jurisdiction hanging apparatus restPose.
Before carrying out step S0, need the position of assembled section of jurisdiction it is known that can by being manually entered in controller or
It is input in controller by guidance system.
Reversing frame drive grasping mechanism of the present invention realizes positive 200 degree and reversed 200 degree rotations, moves axially oil cylinder and carries
Oil-lifting jar realizes that comprehensive installation of section of jurisdiction is realized in movement of the grasping mechanism in horizontal and vertical face, flexible movements respectively.This hair
Bright main movement link is acted using automation, is eliminated a large amount of human intervention operation and is saved pipe sheet assembling link transhipment pipe
The time of piece, improve assembled speed and working efficiency.
Description of the drawings
In order to illustrate the embodiments of the present invention more clearly, attached drawing makees letter needed in being described below to embodiment
Singly introduce, it should be apparent that, drawings in the following description are only some embodiments of the invention, for the common skill in this field
For art personnel, without creative efforts, other drawings may also be obtained based on these drawings.
Fig. 1 is overall structure of the present invention.
Fig. 2 is pipe sheet assembling control flow chart of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of not making the creative labor
Embodiment shall fall within the protection scope of the present invention.
As shown in Figs. 1-2, a kind of semi-automatic duct piece assembling machine, including be installed on section of jurisdiction propulsion device inside shield body 1 and
Section of jurisdiction hanging apparatus, section of jurisdiction propulsion device are used to support assembled section of jurisdiction, and section of jurisdiction hanging apparatus is used for the handling and installation of section of jurisdiction；
Section of jurisdiction propulsion device and section of jurisdiction hanging apparatus are connected with controller, realize automation mechanized operation.The section of jurisdiction propulsion device packet
Several propelling cylinders 6 being arranged along 1 circumference of shield body are included, for holding out against assembled section of jurisdiction.Propelling cylinder 6 is with setting rear
Propulsion pump on trailer is connected, and pump is promoted to provide the power needed for propelling cylinder, realizes the flexible of propelling cylinder.The pipe
Piece hanging apparatus includes the rotary support 4 being arranged inside shield body 1, and the side corresponding with cutterhead 20 of rotary support 4, which is equipped with, spells
The other side of installation driving 2 and reel assembly 3, rotary support 4 is equipped with reversing frame 5, and reversing frame 5 is connected with assembling machine driving 2,
Assembling machine driving 2 includes drive motor and retarder, and retarder is connected with drive motor, the output shaft of retarder with time
Pivoted frame 5 is connected, and reversing frame 5 is rotatablely connected with rotary support 4, and assembling machine driving drives reversing frame rotation.It is horizontal on reversing frame 5
Equipped with guide beam 10, guide beam 10 is equipped with sliding rack 8, and sliding rack can slide on guide beam.Sliding rack 8 is equipped with and sets vertically
The fixing end of the elevating mechanism and horizontally disposed axial movement oil cylinder 10 set, axial movement oil cylinder 10 is connected with reversing frame 5,
The telescopic end of axial movement oil cylinder 10 is connected with sliding rack 8, axial movement oil cylinder 10 and the assembled pump being arranged in shield body 1
It is connected, assembled pump is that axial movement the flexible of oil cylinder provides power, moves axially the flexible drive sliding rack and liter of oil cylinder
Descending mechanism is moved horizontally along guide beam, and the lower end of elevating mechanism is equipped with the grasping mechanism 12 for grasping pipe piece, elevating mechanism band
Dynamic grasping mechanism moves up and down, and realizes the movement that grasping mechanism drives section of jurisdiction in vertical direction.
Further, the elevating mechanism includes the guide sleeve 11 being connected with sliding rack 8 and lift cylinder 7, lift cylinder
It is vertically arranged with guide sleeve.Guide post 13 is equipped in guide sleeve 11, the fixing end of lift cylinder 7 is fixedly connected with sliding rack 8,
The telescopic end of lift cylinder 7 is connected with guide post 13, and the lower end of guide post 13 is fixedly connected with grasping mechanism 12, lift cylinder 7
It is connected with assembled pump, assembled pump is that the flexible of lift cylinder provides power, the telescopic band action-oriented column edge of lift cylinder
Guide sleeve moves up and down, and realizes the lifting of grasping mechanism.The grasping mechanism 12 includes snatch holder 14 and snatch head 15, snatch
First 15 are arranged on snatch holder 14, set that there are two for adjusting the snatch hair oil cylinder in 15 direction of snatch head on snatch holder 14
16, the telescopic end of snatch hair oil cylinder 16 is connected with snatch head 15, and the fixing end of snatch hair oil cylinder 16 is connected with snatch holder 14
It connects.Two snatch hair oil cylinders are separately positioned on the both sides of snatch head, for adjusting snatch head angle during grasping pipe piece
Adjusting, so that snatch head and section of jurisdiction is in suitable position.
A kind of assembling method of semi-automatic duct piece assembling machine, includes the following steps：S0：Semi-automatic assembled pattern is selected, is opened
Dynamic assembly pump and propulsion pump, S1：Controller controls section of jurisdiction hanging apparatus, makes snatch hair oil cylinder, lift cylinder and axial shifting
Dynamic oil cylinder is recycled to zero-bit；S2：Controller controls assembling machine driving and opens, and assembling machine driving drives reversing frame rotation, makes to grab
Mechanism is taken to rotate to capture area, while propelling cylinder stretching holds out against assembled section of jurisdiction；S3：Controller control axial movement
Oil cylinder stretches out, and sliding rack is made to be moved to the upper area for waiting for grasping pipe piece；S4：Controller controls lift cylinder and stretches out, and makes crawl
Mechanism is in suitable position with grasping pipe piece is waited for, adjusts snatch hair oil cylinder, makes snatch head and waits for that grasping pipe piece is in suitable position
And direction, manually section of jurisdiction is fixed on snatch head；S5：Controller control lift cylinder is recycled to zero-bit, makes grasping mechanism band
Section of jurisdiction to be raised above；S6：The axial Shift cylinder of controller control is recycled to zero-bit, makes sliding rack with grasping mechanism to Forward
It is dynamic；S7：Assembling machine driving drives reversing frame rotation, so that grasping mechanism is rotated to assembled region, while propelling cylinder is recycled to zero
Position；S8：Controller controls lift cylinder and stretches out setting length, and section of jurisdiction is made to be in appropriate location with assembled position；S9：It is accomplished manually
Section of jurisdiction fine tuning is completed at the same time section of jurisdiction connection；S10：The propelling cylinder in the assembled region of controller control stretches out the pipe held out against in assembly
Piece；S11：Grasping mechanism unclamps section of jurisdiction；S12：The action of S1-S11 is repeated, until completing last block on current tunnel anchor ring
The assembly of section of jurisdiction；S13：Section of jurisdiction propulsion device and section of jurisdiction hanging apparatus restPose.
Before carrying out step S0, need the position of assembled section of jurisdiction it is known that can by being manually entered in controller or
It is input in controller by guidance system.Such as：Provided by artificial or guidance system need the position of assembled section of jurisdiction to
The assembled angle that first piece of section of jurisdiction is calculated by PLC operations drives reversing frame rotation according to this assembled angle assembly driving
Corresponding angle reaches capture area, manual operation assembling machine grasping pipe piece.After the completion of manual operation assembling machine grasping pipe piece,
PLC calculates reversing frame rotation angle according to known section of jurisdiction position and assembling machine is rotated to assembled region, is carried out to section of jurisdiction assembled.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (6)
1. a kind of semi-automatic duct piece assembling machine, it is characterised in that：Including being installed on shield body（1）Internal section of jurisdiction propulsion device and pipe
Piece hanging apparatus, section of jurisdiction propulsion device and section of jurisdiction hanging apparatus are connected with controller；The section of jurisdiction propulsion device includes edge
Shield body（1）Several propelling cylinders of circumference setting（6）, propelling cylinder（6）It is connected with the propulsion pump being arranged on trailer
It connects, the section of jurisdiction hanging apparatus includes being arranged in shield body（1）Internal rotary support（4）, rotary support（4）With cutterhead（20）Phase
Corresponding side drives equipped with assembling machine（2）With reel assembly（3）, rotary support（4）The other side be equipped with reversing frame（5）, return
Pivoted frame（5）It is driven with assembling machine（2）It is connected, reversing frame（5）It is upper horizontal equipped with guide beam（10）, guide beam（10）It is equipped with and slides
Moving frame（8）, sliding rack（8）It is equipped with the elevating mechanism being vertically arranged and horizontally disposed axial movement oil cylinder（10）, axial to move
Dynamic oil cylinder（10）Fixing end and reversing frame（5）It is connected, moves axially oil cylinder（10）Telescopic end and sliding rack（8）It is connected
It connects, moves axially oil cylinder（10）With setting in shield body（1）Interior assembled pump is connected, and the lower end of elevating mechanism is equipped with for grabbing
Take the grasping mechanism of section of jurisdiction（12）.
2. semi-automatic duct piece assembling machine according to claim 1, it is characterised in that：The elevating mechanism includes and sliding rack
（8）The guide sleeve being connected（11）And lift cylinder（7）, guide sleeve（11）In be equipped with guide post（13）, lift cylinder（7）Consolidate
Fixed end and sliding rack（8）It is fixedly connected, lift cylinder（7）Telescopic end and guide post（13）It is connected, guide post（13）Lower end
With grasping mechanism（12）It is fixedly connected, lift cylinder（7）It is connected with assembled pump.
3. semi-automatic duct piece assembling machine according to claim 1 or 2, it is characterised in that：The grasping mechanism（12）Including
Snatch holder（14）With snatch head（15）, snatch head（15）It is arranged in snatch holder（14）On, snatch holder（14）It is equipped with two
It is a to be used to adjust snatch head（15）The snatch hair oil cylinder in direction（16）, snatch hair oil cylinder（16）Telescopic end and snatch head（15）Phase
Connection, snatch hair oil cylinder（16）Fixing end and snatch holder（14）It is connected.
4. semi-automatic duct piece assembling machine according to claim 3, it is characterised in that：The assembling machine driving（2）Including driving
Dynamic motor and retarder, retarder are connected with drive motor, the output shaft and reversing frame of retarder（5）It is connected, reversing frame
（5）With rotary support（4）Rotation connection.
5. a kind of assembling method of semi-automatic duct piece assembling machine as described in claim 1, it is characterised in that：Including following step
Suddenly：S0：Semi-automatic assembled pattern is selected, assembled pump is started and promotes pump, S1：Controller controls section of jurisdiction hanging apparatus, makes
Snatch hair oil cylinder, lift cylinder and axial movement oil cylinder are recycled to zero-bit；S2：Controller controls assembling machine driving and opens, and spells
Installation driving drives reversing frame rotation, and grasping mechanism is made to rotate to capture area, at the same propelling cylinder stretching hold out against it is assembled
Section of jurisdiction；S3：The axial Shift cylinder of controller control stretches out, and sliding rack is made to be moved to the upper area for waiting for grasping pipe piece；S4：Control
Device control lift cylinder processed stretches out, and makes grasping mechanism and waits for that grasping pipe piece is in suitable position, adjusts snatch hair oil cylinder, make snatch
Head with wait for that grasping pipe piece is in suitable position and direction, manually section of jurisdiction is fixed on snatch head；S5：Controller control promotes oil
Cylinder is recycled to zero-bit, and grasping mechanism is made to be raised above with section of jurisdiction；S6：The axial Shift cylinder of controller control is recycled to zero-bit,
Sliding rack is set to be moved forward with grasping mechanism；S7：Assembling machine driving drives reversing frame rotation, and grasping mechanism is made to rotate to assembly
Region, while propelling cylinder is recycled to zero-bit；S8：Controller controls lift cylinder and stretches out setting length, makes section of jurisdiction and assembled position
It sets and is in appropriate location；S9：It is accomplished manually section of jurisdiction fine tuning and is completed at the same time section of jurisdiction connection；S10：The controller assembled region of control pushes away
The section of jurisdiction held out against in assembly is stretched out into oil cylinder；S11：Grasping mechanism unclamps section of jurisdiction；S12：The action of S1-S11 is repeated, until complete
At the assembly of last block section of jurisdiction on current tunnel anchor ring；S13：Section of jurisdiction propulsion device and section of jurisdiction hanging apparatus restPose
.
6. the assembling method of semi-automatic duct piece assembling machine according to claim 5, it is characterised in that：Carry out step S0 it
Before, need the position of assembled section of jurisdiction it is known that control can be input in controller or by guidance system by being manually entered
In device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810693894.5A CN108625885A (en) | 2018-06-29 | 2018-06-29 | A kind of semi-automatic duct piece assembling machine and its assembling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810693894.5A CN108625885A (en) | 2018-06-29 | 2018-06-29 | A kind of semi-automatic duct piece assembling machine and its assembling method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108625885A true CN108625885A (en) | 2018-10-09 |
Family
ID=63689418
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810693894.5A Pending CN108625885A (en) | 2018-06-29 | 2018-06-29 | A kind of semi-automatic duct piece assembling machine and its assembling method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108625885A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109209435A (en) * | 2018-11-27 | 2019-01-15 | 江苏凯宫隧道机械有限公司 | The automatic detection tunnel duct piece of band spells the assembling machine of ring circularity |
| CN110552708A (en) * | 2019-09-24 | 2019-12-10 | 中国重型机械研究院股份公司 | Pipe piece assembling machine and assembling method |
| CN110847922A (en) * | 2019-12-13 | 2020-02-28 | 中国铁建重工集团股份有限公司 | Operation control device and heading equipment |
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Cited By (3)
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|---|---|---|---|---|
| CN109209435A (en) * | 2018-11-27 | 2019-01-15 | 江苏凯宫隧道机械有限公司 | The automatic detection tunnel duct piece of band spells the assembling machine of ring circularity |
| CN110552708A (en) * | 2019-09-24 | 2019-12-10 | 中国重型机械研究院股份公司 | Pipe piece assembling machine and assembling method |
| CN110847922A (en) * | 2019-12-13 | 2020-02-28 | 中国铁建重工集团股份有限公司 | Operation control device and heading equipment |
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